CN211321512U

CN211321512U - Positioning circuit based on Bluetooth AOA communication and positioning system thereof

Info

Publication number: CN211321512U
Application number: CN201921765390.6U
Authority: CN
Inventors: 杨永辉; 何廷万; 谢晓博; 刘宏罡; 董余乐
Original assignee: V Power Information Technology Co ltd
Current assignee: V Power Information Technology Co ltd
Priority date: 2019-10-18
Filing date: 2019-10-18
Publication date: 2020-08-21
Anticipated expiration: 2029-10-18

Abstract

A positioning circuit based on Bluetooth AOA communication and a positioning system thereof are provided, wherein the positioning circuit comprises: the device comprises a radio frequency communication module, a switch switching module, a Bluetooth communication module, a calibration compensation module and a positioning control module; the switch switching module outputs a driving signal according to the control signal and the radio frequency signal; the antenna units are respectively positioned at preset positions and are driven by the driving signals to sequentially receive the first Bluetooth communication signals; the calibration compensation module calibrates the communication state of each antenna unit to obtain a corresponding phase compensation value; the positioning control module obtains an angle value and a distance value of the device to be tested according to the phase difference of the first Bluetooth communication signal after the multi-path phase compensation so as to complete the positioning function of the device to be tested; the positioning circuit directly obtains the position of the equipment to be measured according to the phase difference, so that intermediate variables are saved, positioning measurement steps are simplified, and positioning accuracy and positioning efficiency are improved.

Description

Positioning circuit based on Bluetooth AOA communication and positioning system thereof

Technical Field

The utility model belongs to the technical field of fix a position, especially, relate to a positioning circuit and positioning system based on bluetooth AOA communication.

Background

With the continuous improvement of the modern industrial level, the positioning technology of the electronic equipment is widely applied to various technical fields such as moving maps, aircraft flight, vehicle-mounted equipment driving and the like, and the specific position of the electronic equipment in the external environment can be obtained in real time by tracking the electronic equipment in real time so as to meet the position tracking requirements of people; moreover, the electronic equipment can realize a safer and more comprehensive circuit function by accurately positioning the electronic equipment, so that the value of the electronic equipment is improved; therefore, the method for accurately and quickly detecting the spatial position of the electronic equipment has important practical significance for the application range of the electronic equipment.

However, the positioning method in the conventional technology usually involves dependent variables of a plurality of electronic devices, in order to more accurately obtain the position of the electronic device in space, the conventional technology needs to perform complex and tedious conversion processing on parameters acquired by the electronic device, and a large number of intermediate variables are involved in the parameter processing process, so as to obtain the accurate position of the electronic device in space, which not only causes low positioning efficiency and compatibility for the electronic device, but also affects the positioning accuracy of the electronic device, increases the positioning cost, has complex positioning steps, is difficult to meet the safe positioning requirement of a user, and brings great inconvenience to the user.

SUMMERY OF THE UTILITY MODEL

In view of this, an embodiment of the present application provides a positioning circuit based on bluetooth AOA communication and a positioning system thereof, and aims to solve the problems that the positioning accuracy and the positioning efficiency of an electronic device are low, and the operation steps are complicated in the conventional technical scheme, so that the conventional positioning method has a high cost and cannot be generally applied to different industrial environments.

A first aspect of the embodiments of the present application provides a positioning circuit based on bluetooth AOA communication, including:

the radio frequency communication module is used for inputting and detecting radio frequency signals;

the switch switching module is connected with the radio frequency communication module and used for respectively controlling at least one power supply branch circuit to be switched on or switched off according to a control signal, and when the power supply branch circuit is switched on, one path of driving signal is output according to the radio frequency signal;

the Bluetooth communication module is connected with the switch switching module and is in Bluetooth connection with a device to be tested, the Bluetooth communication module comprises at least four antenna units, the at least four antenna units are all connected with the switch switching module, the at least four antenna units are distributed at preset positions under a preset coordinate system, and each antenna unit is used for correspondingly receiving a first Bluetooth communication signal sent by the device to be tested according to a driving signal when the antenna unit receives the driving signal;

the calibration compensation module is connected with the calibration equipment and the equipment to be tested, and is used for obtaining a phase compensation value of each antenna unit according to a phase difference between a phase of a second Bluetooth communication signal received by each antenna unit and sent by the calibration equipment and a phase of a preset communication signal; and the positioning control module is used for acquiring the azimuth angle of the equipment to be tested relative to the origin of coordinates of the preset coordinate system and acquiring the relative distance between the equipment to be tested and the origin of coordinates according to the phase compensation values of at least four antenna units and the phase difference between at least four paths of first Bluetooth communication signals received by the at least four antenna units.

In one embodiment thereof, the switch switching module comprises at least one single pole 3 throw switch and/or single pole 4 throw switch.

In one embodiment, all the antenna units are integrated into one bluetooth chip, wherein the bluetooth chip is disposed on the wiring layer of the circuit board.

In one embodiment, the phase of the preset communication signal is equal to an average value of the phases of at least four antenna units receiving at least four second bluetooth communication signals, and the distance between the verification device and each antenna unit is equal.

In one embodiment, the bluetooth communication module comprises: nine antenna units, and nine antenna units present the square array of three rows three columns and arrange on the wiring layer of circuit board.

In one embodiment, the phase of the preset communication signal is equal to the phase of the second bluetooth communication signal sent by the verification device and received by a preset antenna unit;

wherein, the preset antenna unit means: among nine antenna units, the antenna unit is positioned in the central area of the square area enclosed by the square arrays of the three rows and the three columns.

In one embodiment, the bluetooth communication module comprises four antenna groups, each of the antenna groups comprises four antenna units, and the four antenna units in each of the antenna groups are arranged in a square array of two rows and two columns on the wiring layer of the circuit board;

the positioning control module is connected with any one of the antenna groups in a Bluetooth manner, and is specifically configured to obtain an azimuth angle of the device to be tested relative to the origin of coordinates according to phase compensation values of four antenna units in the antenna group and phase differences between four received first Bluetooth communication signals, and obtain a relative distance between the device to be tested and the origin of coordinates.

In one embodiment, the method further comprises:

and the control module is connected with the switch switching module and is used for generating the control signal.

A second aspect of the embodiments of the present application provides a positioning system based on bluetooth AOA communication, including:

a device to be tested; and

the base station comprises a positioning circuit and a base station control circuit, wherein the positioning circuit is used for acquiring the position of the device to be tested in a preset coordinate system.

In one embodiment, the positioning system includes at least two base stations, and the at least two base stations are configured to obtain at least two coordinates of the device to be tested in a same preset coordinate system, and obtain an average value of the at least two coordinates.

The positioning circuit based on Bluetooth AOA communication can control the switch switching module to conduct at least one power supply branch circuit through the control signal so as to output at least one path of driving signal, and the calibration compensation module can respectively calibrate the Bluetooth communication states of the plurality of antenna units in real time in a standard communication environment so as to overcome the positioning error caused by the error of the communication states of the plurality of antenna units and ensure the positioning precision of the positioning circuit on the equipment to be tested; the positioning control module can obtain an angle value and a distance value according to the phase difference between the plurality of first Bluetooth communication signals received by the plurality of antenna units under the compensated Bluetooth communication condition, so as to obtain the accurate coordinate of the device to be tested under the preset coordinate system, the positioning step is simple and convenient, the positioning control module does not need to measure the angle value of the device to be tested under the preset coordinate system, intermediate variables are reduced, the actual position of the device to be tested can be directly obtained according to the phase difference, the positioning step of the device to be tested is greatly simplified, and the positioning measurement cost of the device to be tested is saved; therefore, the embodiment of the application has higher actual coordinate testing efficiency for the equipment to be tested, the problem of position detection errors caused by system errors of Bluetooth communication is avoided, the positioning circuit can be universally applied to different external environments, the accurate position of the equipment to be tested is obtained in real time, and the practical value is higher.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a positioning circuit based on bluetooth AOA communication according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a switch switching module according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a bluetooth communication module according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a bluetooth communication module according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a positioning circuit based on bluetooth AOA communication according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a default coordinate system according to an embodiment of the present application;

FIG. 7 is another schematic diagram of a predetermined coordinate system according to an embodiment of the present application;

fig. 8 is a distribution diagram of antenna groups according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a positioning system based on bluetooth AOA communication according to an embodiment of the present application;

fig. 10 is a detailed flowchart of a positioning method based on bluetooth AOA communication according to an embodiment of the present application;

fig. 11 is a detailed flowchart of the positioning method S1005 based on bluetooth AOA communication shown in fig. 10 according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It should be noted that if a specific position of an object in the coordinate system needs to be determined, two parameters need to be determined: the distance value and the angle value can be combined to accurately determine the specific position of the object relative to the reference system; based on this, the positioning circuit in the embodiment of the application can accurately acquire the distance value and the angle value of the device to be tested under the preset reference system, thereby not only reducing the intermediate variables of the device to be tested in the positioning measurement process and simplifying the positioning measurement steps of the device to be tested, but also eliminating the positioning error of the device to be tested caused by the communication error of the circuit, and greatly improving the positioning measurement precision of the device to be tested; therefore, the positioning circuit has a wider application range.

It should be noted that the AOA (Angle Of Arrival) communication device acquires the position Of the object by sensing the transmission Of the signal or reaching the communication state Of the signal; therefore, the positioning circuit 10 herein can realize the bluetooth AOA communication function to accurately and quickly obtain the actual position of the object, and the application range is wide.

Referring to fig. 1, a schematic structural diagram of a positioning circuit 10 based on bluetooth AOA communication provided in the embodiment of the present application is shown, where the positioning circuit 10 is in bluetooth connection with a device to be tested 20, and then the positioning circuit 10 can receive a signal sent by the device to be tested 20 in a bluetooth wireless transmission manner, so as to implement a wireless positioning function for the device to be tested 20, where the bluetooth communication manner not only has high signal transmission accuracy, but also can be generally applied to different communication environments, and has high communication compatibility; therefore, the positioning circuit 10 realizes accurate measurement of the device to be tested 20 by using bluetooth communication, and brings great convenience to users; for convenience of explanation, only the parts related to the present embodiment are shown, and detailed as follows:

the positioning circuit 10 includes: the system comprises a radio frequency communication module 101, a switch switching module 102, a Bluetooth communication module 103, a calibration compensation module 104 and a positioning control module 105.

The radio frequency communication module 101 is configured to input and detect a radio frequency signal.

The radio frequency communication module 101 has a signal transmission function, and illustratively, parameter information such as a phase and a frequency of a radio frequency signal can be detected in real time through the radio frequency communication module 101; the radio frequency communication module 101 can realize a radio frequency communication function, and the running state of the electronic component can be changed according to the radio frequency signal so as to start the positioning measurement function of the positioning circuit 10 on the device to be tested 20, the radio frequency communication module 101 has high communication efficiency and communication accuracy, the positioning control efficiency of the positioning circuit 10 is improved, the positioning measurement step of the device to be tested 20 can be controlled through the radio frequency signal, and the control step is simplified.

The switch switching module 102 is connected to the radio frequency communication module 101, and the switch switching module 102 is configured to respectively control at least one power supply branch to be turned on or off according to the control signal, and output a driving signal according to the radio frequency signal when the power supply branch is turned on.

The control signal has an on-off control function, so that the on-off state of a plurality of power supply branches in the switch switching module 102 can be changed in real time through the control signal, the switch switching module 102 can output a plurality of paths of driving signals according to the radio frequency signal, and the Bluetooth communication function can be realized based on the driving signals; therefore, the switch switching module 102 in this embodiment simultaneously accesses the control signal and the radio frequency signal, and controls the plurality of power supply branches to be conducted in real time through the control signal, and when each power supply branch is conducted, the power supply branch realizes an electric energy transmission function to output a driving signal; the multi-path driving signals can be synchronously output by combining a plurality of power supply branches, so that the positioning test function of the equipment to be tested 20 is realized; therefore, the switch switching module 102 has higher control accuracy and control efficiency, and the on-state or off-state of the power supply branch of the switch switching module 102 is utilized to realize the positioning driving function of the device to be tested 20, thereby further simplifying the positioning control step of the device to be tested 20, improving the positioning control efficiency of the device to be tested 20, and being beneficial to improving the application range of the positioning circuit 10.

The bluetooth communication module 103 is connected to the switch switching module 102, and the bluetooth communication module 103 is connected to the device to be tested 20 in a bluetooth manner, where the bluetooth communication module 103 includes at least four antenna units (indicated by 1031 and 1032 … 103N in fig. 1, where N is a positive integer greater than 3), the at least four antenna units are all connected to the switch switching module 102, the at least four antenna units are distributed at preset positions in a preset coordinate system, and each antenna unit is configured to correspondingly receive a first bluetooth communication signal sent by the device to be tested 20 according to a driving signal when receiving a driving signal.

Wherein bluetooth communication module 103 can realize the function of bluetooth communication, and await measuring equipment 20 has the signal output function, through await measuring equipment 20 and generating complete first bluetooth communication signal, and then bluetooth communication module 103 can wireless reception to multichannel first bluetooth communication signal, because await measuring equipment 20 and bluetooth communication module 103 set up relatively, and then every antenna unit can wireless reception corresponding first bluetooth communication signal, accomplish the accurate positioning to awaiting measuring equipment 20 according to the first bluetooth communication signal that a plurality of antenna units received, the communication compatibility and the stability of bluetooth communication module 103 have been improved.

Specifically, the preset coordinate system is a preset reference coordinate system, and the actual position of each object can be described more conveniently through the reference coordinate system, so that a more scientific and reasonable positioning measurement function can be performed on the device to be tested 20; each antenna unit in the bluetooth communication module 103 is located at a specific coordinate under the reference coordinate system, so that a specific relative position relationship is maintained between the device to be tested 20 and the plurality of antenna units, and the plurality of antenna units can more comprehensively maintain bluetooth communication with the device to be tested 20, so as to realize accurate measurement of the device to be tested 20, and the positioning circuit 10 has high communication compatibility and stability; the at least four antenna units are connected with the at least four power supply branches in a one-to-one correspondence manner, and the power supply branches are controlled to be switched on or switched off, so that switching between different antenna units is realized, a phase difference of a first Bluetooth communication signal output by the device to be tested 20 reaching different antenna units is obtained, a distance difference is reversely deduced, an actual position of the device to be tested 20 in a preset coordinate system is further obtained, and an accurate positioning function of the device to be tested 20 is realized.

When one power supply branch is conducted, the corresponding antenna unit can access the driving signal in real time, and the communication state of the antenna unit can be adjusted through the driving signal, so that the antenna unit receives one path of first bluetooth communication signals, the antenna unit has higher communication compatibility and stability, and then the multiple paths of first bluetooth communication signals received by the multiple antenna units in the preset coordinate system keep a real-time bluetooth communication function with the device to be tested 20, the antenna unit has higher communication control precision and operation simplicity, the accurate positioning function of the device to be tested 20 can be realized according to the multiple paths of first bluetooth communication signals received by the bluetooth communication module 103, and the operation is simple and convenient.

The calibration compensation module 104 is connected to the calibration device 30 and the device under test 20, and the calibration compensation module 104 is configured to obtain a phase compensation value of each antenna unit according to a phase difference between a phase of the second bluetooth communication signal received by each antenna unit and a phase of a preset communication signal, where the phase of the second bluetooth communication signal is sent by the calibration device 30.

When each antenna unit is in wireless signal communication and each power supply branch is in conduction, driving signals received by the antenna units have large difference, so that communication states among the antenna units cannot keep standard consistency, and positioning errors are caused; the phase difference caused by the communication states of the antenna units belongs to a system error in the positioning measurement process, and the system error can bring a large measurement error to the positioning test of the device to be tested 20; therefore, the present embodiment utilizes the calibration device 30 to implement the phase calibration function for multiple antenna units in advance, so as to overcome the positioning error caused by the communication baking error of the multiple antenna units themselves.

Specifically, the preset communication signal is preset, represents a reference signal in the positioning measurement process of the device to be tested 20, and takes the phase of the preset communication signal as a reference, when the verification device 30 generates the second bluetooth communication signal and simultaneously transmits the second bluetooth communication signal to each antenna unit, the communication error degree of the antenna unit can be accurately evaluated according to the phase difference between the preset communication signal and each path of second bluetooth communication signal received by the antenna unit, for example, the phase of the second bluetooth communication signal received by the antenna unit lags behind or leads the phase of the preset communication signal, so that the phase compensation value of the corresponding antenna unit can be obtained in real time according to the phase difference between the phase of each path of second bluetooth communication signal and the preset communication signal, and the phase compensation is performed on the first bluetooth communication signal received by the antenna unit according to the phase compensation value, the communication states of the antenna units after phase compensation can be kept completely consistent, and the transmission precision and the transmission efficiency of the first bluetooth communication signal are higher, so that a higher-precision positioning measurement function can be realized on the device to be tested 20, the positioning control precision of the positioning circuit 10 is improved, the positioning errors caused by the communication errors of the antenna units are effectively eliminated, and the positioning measurement process of the positioning circuit 10 has higher communication interference resistance.

The positioning control module 105 is connected to the bluetooth communication module 103, the device to be tested 20 and the calibration compensation module 104, and the positioning control module 105 is configured to obtain an azimuth angle of the device to be tested 20 relative to a coordinate origin of a preset coordinate system and obtain a relative distance between the device to be tested 20 and the coordinate origin according to phase compensation values of at least four antenna units and a phase difference between at least four first bluetooth communication signals received by the at least four antenna units.

The positioning control module 105 has the functions of position analysis and acquisition, the positioning control module 105 is connected with at least four antenna units, when the device to be tested 20 sends out a first bluetooth communication signal, each antenna unit receives one path of the first bluetooth communication signal, and because the antenna units and the device to be tested 20 have a specific relative position relationship, the first bluetooth communication signal received by each antenna unit has a specific phase; the positioning control module 105 can determine the specific coordinates of the device to be tested 20 in the preset coordinate system according to the first bluetooth communication signal received by the antenna unit; for example, since the specific position of each antenna unit in the preset coordinate system is known in advance, when each antenna unit receives a first bluetooth communication signal sent by the device to be tested 20, the position of the device to be tested 20 in the preset coordinate system is obtained; specifically, when the switch switching module 102 outputs a driving signal at regular intervals, one antenna unit is driven by the driving signal to receive a first bluetooth communication signal, a relative distance between the device to be tested 20 and the origin of coordinates is obtained according to a phase difference between the first bluetooth communication signals received by the antenna unit at regular intervals, and a distance distribution rule of the device to be tested 20 can be determined according to the relative distance; the phases of the first bluetooth communication signals received by the multiple antenna units are different, so that after the phase compensation is performed on the antenna units, the angle value of the device to be tested 20 in the preset coordinate system can be accurately determined according to the phase difference between the multiple paths of first bluetooth communication signals received by the multiple antenna units, the angle value can be obtained according to the phase difference of the first bluetooth communication signals received by the multiple antenna units, the angle value of the device to be tested 20 in the preset coordinate system does not need to be measured, intermediate variables are saved, the angle measurement precision and the angle measurement efficiency of the device to be tested 20 in the preset coordinate system are guaranteed, the positioning precision of the device to be tested 20 is high, and the practical value is high.

Illustratively, if two antenna units receive two paths of first bluetooth communication signals respectively, wherein the phase of the first path of first bluetooth communication signal leads that of the second path of first bluetooth communication signal by 180 degrees, and the first antenna unit receives the first path of first Bluetooth communication signal, the second antenna unit receives the second path of first Bluetooth communication signal, due to the communication difference between the first antenna unit and the second antenna unit, after calibration compensation, the phase compensation value of the first antenna unit is +30 degrees, the phase compensation value of the second antenna unit is-30 degrees, after the phase compensation is respectively carried out on the first path of first Bluetooth communication signal and the second path of first Bluetooth communication signal, the actual leading phase of the first path of phase-compensated first bluetooth communication signal relative to the second path of phase-compensated first bluetooth communication signal is 120 degrees; by analogy, when four antenna units exist, according to four paths of corresponding first bluetooth communication signals received by the four antenna units, after phase compensation is performed on each path of first bluetooth communication signals, according to phase differences between the four paths of phase compensated first bluetooth communication signals, an actual angle value and an actual distance value of the device to be tested 20 in a preset coordinate system can be accurately obtained, a spatial positioning error of the device to be tested 20 caused by communication state errors among the multiple antenna units is avoided, and the positioning measurement precision and efficiency of the positioning circuit 10 on the device to be tested 20 are greatly improved.

In the structural schematic of the positioning circuit 10 shown in fig. 1, a plurality of driving signals can be output through the switch switching module 102, a plurality of antenna units can implement a bluetooth communication function through the plurality of driving signals, and the plurality of antenna units can respectively receive a plurality of first bluetooth communication signals to implement a wireless positioning function for the device to be tested 20; the calibration compensation module 104 evaluates and measures the bluetooth communication error of each antenna unit according to the preset communication signal to obtain a phase compensation value of each antenna unit, so that communication state errors among a plurality of antenna units can be compensated according to the phase compensation value, accurate measurement and positioning of the phase of the device to be tested 20 are realized, and the positioning error of the device to be tested 20 caused by the system error of the positioning circuit 10 is eliminated; after phase compensation is carried out on the plurality of antenna units, the angle value and the distance value of the device to be tested 20 in the preset coordinate system are obtained according to the phase difference of the first Bluetooth communication signals received by at least four antenna units, and then the coordinates of the device to be tested 20 in the preset coordinate system can be accurately obtained by combining the azimuth angle and the relative distance, so that the function of accurately positioning the device to be tested 20 is completed, and the practical value is high; in the embodiment, the phase difference after the phase compensation is adopted to obtain the angle value and the distance value of the device to be tested 20, the angle value of the device to be tested 20 does not need to be directly measured, intermediate variables in the process of positioning test of the device to be tested 20 are reduced, the positioning test steps of the device to be tested 20 are simplified, the positioning control cost of the positioning circuit 10 is effectively reduced, and great convenience is brought to the use of a user; therefore, the positioning circuit 10 in this embodiment has higher positioning test accuracy and positioning test efficiency for the device to be tested 20, can accurately obtain the specific coordinates of the device to be tested 20 in the preset coordinate system, has smaller positioning error, and can be universally applied to different industrial technical fields; the technical problems that more intermediate variables are generated in the process of positioning the electronic equipment by the traditional technology, the complexity and the complexity in the positioning test process are increased, the positioning test cost of the electronic equipment is high, the positioning precision and efficiency are low, the electronic equipment is difficult to be universally applied to different industrial technical fields, and great inconvenience is brought to the use of a user are effectively solved.

It should be noted that the "device under test 20" and the "verification device 30" in this document are various types of mobile terminals in the art, and this document is not limited thereto; for example, the "device under test 20" and the "verification device 30" are both mobile phones.

As an alternative embodiment, the switch switching module 102 includes at least one single-pole 3-throw switch and/or single-pole 4-throw switch; the single-pole 3-throw switch and/or the single-pole 4-throw switch has a plurality of signal output ends, and then a plurality of output ends in the single-pole 3-throw switch and/or the single-pole 4-throw switch are selectively switched on according to the control signal, so that a plurality of power supply branches can be formed, and a plurality of driving signals are sent out to realize the positioning control function of the device to be tested 20, therefore, the switch switching module 102 in the embodiment has high switch control precision and switch control efficiency, and the control response precision in the positioning test process is guaranteed.

For example, fig. 2 shows a circuit structure schematic of the switch switching module 102 provided in this embodiment, please refer to fig. 2, where the switch switching module 102 includes a single-pole 3-throw switch K1 and five single-pole 4-throw switches (fig. 2 is represented by K2, K3, K4, K5, and K6), and in the switch switching module 102, a cascaded single-pole 3-throw switch and multiple single-pole 4-throw switches are used, so that when an input end of the single-pole 3-throw switch is connected with a radio frequency signal, the single-pole 3-throw switch and the single-pole 4-throw switch are respectively switched on according to a control signal to output multiple driving signals, so as to achieve an accurate positioning function for the device to be tested 20, and the operation is simple; the single-pole 3-throw switch and the single-pole 4-throw switch have high switching control efficiency, wherein the switching time of the single-pole 3-throw switch and the single-pole 4-throw switch is less than 2 microseconds; the switch switching module 102 can rapidly switch on different power supply branches according to the control signal to realize the output function of the driving signal, and the positioning test process of the device to be tested 20 can be accurately and timely operated by combining the single-pole 3-throw switch and the single-pole 4-throw switch, so that the positioning control efficiency of the positioning circuit 10 is greatly improved, and the positioning control time requirement of a user is met; therefore, the switch switching module 102 in this embodiment has a relatively compatible and simplified circuit structure, and realizes a precise positioning test function for the device to be tested 20, and the control response speed is relatively high.

Illustratively, each antenna unit comprises an omnidirectional antenna, wherein the omnidirectional antenna can radiate uniformly to all directions around, so as to maintain the stability and compatibility of the bluetooth communication of the antenna unit; therefore, the antenna unit in this embodiment has higher communication compatibility and communication stability to realize the function of accurately positioning the device to be tested 20, and the positioning circuit 10 has higher communication stability and signal transmission accuracy, and has a very high practical value.

As an optional implementation manner, each antenna unit is formed by winding a conducting wire, and when the antenna unit is connected to a driving signal, the antenna unit can realize a wireless signal transceiving function, so that the bluetooth communication efficiency of the antenna unit is ensured, and the manufacturing cost and the application cost of the bluetooth communication module 103 are simplified.

As an alternative embodiment, all the antenna units in the bluetooth communication module 103 are integrated into one bluetooth chip, wherein the bluetooth chip is disposed on the wiring layer of the circuit board.

The antenna unit has a Bluetooth communication function, and can receive a first Bluetooth communication signal sent by the device to be tested 20 through the antenna unit so as to realize a wireless positioning function, and the communication compatibility is high; therefore, in this embodiment, all the antenna units are integrated with one bluetooth chip, so that the integration and control simplicity of the internal electronic components of the bluetooth communication module 103 are ensured; the first bluetooth communication signals can be respectively received through the bluetooth chips, so that the positioning control efficiency of the device to be tested 20 is guaranteed; meanwhile, in the embodiment, all antenna units are arranged on the same Printed Circuit Board (PCB), and then a plurality of antenna units on the PCB respectively receive the first bluetooth communication signal in sequence, so as to realize the positioning function of the device to be tested 20, thereby greatly improving the efficiency of bluetooth communication and the bluetooth communication precision, and reducing the space occupation volume of the positioning circuit 10, bringing better use experience for users, reducing the manufacturing cost and application cost of the positioning circuit 10, and having higher practical value.

As an alternative embodiment, the phase of the predetermined communication signal is equal to the average of the phases of the at least four second bluetooth communication signals received by the at least four antenna units, and the distance between the verification device 30 and each antenna unit is equal.

When the verification device 30 performs bluetooth communication with the bluetooth chip, because the spatial distances between the verification device 30 and each antenna unit are already equal, if the second bluetooth communication signals received by all the antenna units are consistent and there is no error, the phases of all the second bluetooth communication signals received by all the antenna units will be the same, and there will be no phase difference; if, on the contrary, there is a phase difference between the second bluetooth communication signals respectively received by any two antenna units, the phase difference at this time is caused by the communication state difference of the antenna units themselves, which may affect the positioning detection precision of the device to be tested 20; therefore, in the present embodiment, the average value of the phases of all the second bluetooth communication signals received by the verification device 30 is used as the reference phase, and the phase error amount of the communication state of each antenna unit is measured by the reference phase, so that the detection precision and the detection scientificity of the communication error of the antenna unit are improved; the phase compensation value of the corresponding antenna unit can be obtained according to the difference degree between the phase of the second bluetooth communication signal received by each antenna unit and the average value, so that in the process of performing positioning test on the device to be tested 20, the plurality of antenna units after phase compensation have completely consistent communication states, the angle value and the distance value of the device to be tested 20 can be accurately obtained in real time according to the phase difference between the plurality of antenna units receiving the plurality of paths of first bluetooth communication signals after phase compensation, the positioning accuracy of the device to be tested 20 under a preset coordinate system is guaranteed, and the positioning error of the device to be tested 20 caused by the communication difference of the antenna units is eliminated; the positioning circuit 10 in this embodiment has higher anti-interference performance and compatibility, and higher practical value.

As an optional implementation manner, fig. 3 shows a schematic structural diagram of the bluetooth communication module 103 provided in this embodiment, please refer to fig. 3, where the bluetooth communication module 103 includes: nine antenna elements (represented in fig. 3 by ANT1, ANT2 … ANT8, ANT 9) and the nine antenna elements are arranged in a square array of three rows and three columns on the wiring layer of the circuit board 301.

Each antenna unit has a bluetooth communication function, and further when the single-pole 3-throw switch and/or the single-pole 4-throw switch are switched on according to the overhead signal, the switch switching module 102 can form different power supply branches and output a driving signal, when each antenna unit is connected to a corresponding driving signal through the power supply branch, the antenna unit receives a corresponding first bluetooth communication signal under the driving of the driving signal, the antenna unit in the bluetooth communication module 103 has higher communication control efficiency and communication control precision, and the high-efficiency positioning function of the device to be tested 20 is realized.

Therefore, in the embodiment, the nine antenna units are integrated to perform bluetooth communication with the device to be tested 20, so that the bluetooth communication efficiency of the bluetooth communication module 103 is improved, and the positioning test precision and the stability of the device to be tested 20 are high; the nine antenna units are regularly distributed on the circuit board 103, so that the communication state of the antenna units has higher control efficiency and control precision; and a plurality of antenna units are arranged in an array on the circuit board 103, which enables the bluetooth communication module 103 to have higher bluetooth communication efficiency and accuracy, and the antenna units on the circuit board 103 can stably receive the first bluetooth communication signal sent by the device to be tested 20, so as to realize accurate and real-time positioning function for the device to be tested 20, and improve the compatibility and practical value of the positioning circuit 10.

As an alternative embodiment, the phase of the predetermined communication signal is equal to the phase of the predetermined antenna unit receiving the second bluetooth communication signal sent by the verification device 30.

Wherein, the preset antenna unit means: and among the nine antenna units, the antenna unit is positioned in the central area of the square area enclosed by the square arrays of three rows and three columns.

Exemplarily, as shown in fig. 3, in which the antenna element ANT5 is a preset antenna element in the bluetooth communication module 103, and the antenna element ANT5 is surrounded by other eight antenna elements, the communication state between the antenna element ANT5 and the device under test 20 has the best communication representativeness by using the uniformity distribution communication effect of the antennas; therefore, phase compensation values of the remaining eight antenna units can be accurately obtained by comparing phase differences between phases of the second bluetooth communication signals received by the preset antenna unit ANT5 and phases of the second bluetooth communication signals received by the remaining eight antenna units according to a bluetooth communication state of the preset antenna unit and the device under test 20 as a reference, where the phase compensation value of the preset antenna unit ANT5 is 0; therefore, the detection step of the phase compensation value of the antenna unit is simple and convenient, and the phase compensation can be performed on the first bluetooth communication signal received by each antenna unit according to the phase compensation value of each antenna unit, so that all the antenna units can perform bluetooth communication with the device to be tested 20 under the consistent communication environment, and the positioning test precision and efficiency of the device to be tested 20 are improved; has wide application range.

As an alternative implementation, fig. 4 shows another structural schematic diagram of the bluetooth communication module 103 in this embodiment, please refer to fig. 4, where the bluetooth communication module 103 includes four antenna groups (fig. 4 is represented by 401, 402, 403, and 404), each antenna group includes four antenna units, and the four antenna units in each antenna group are arranged in a square array of two rows and two columns on a circuit board.

The positioning control module 105 is bluetooth connected to any one antenna group, and the positioning control module 105 is specifically configured to obtain an azimuth angle of the device to be tested 20 relative to the origin of coordinates according to phase compensation values of four antenna units in the antenna group and phase differences between the received four first bluetooth communication signals, and obtain a relative distance between the device to be tested 20 and the origin of coordinates.

The embodiment can respectively perform bluetooth communication with the device to be tested 20 through the antenna group, and then the four paths of first bluetooth communication signals received by the antenna group have higher precision and power; therefore, any one antenna group on the circuit board 301 is selected to realize the positioning test function for the device to be tested 20, and the distance value and the angle value of the device to be tested 20 can be respectively obtained according to the first bluetooth communication signal sent by the device to be tested 20 received by the antenna group, so that the circuit structure and the circuit space layout of the bluetooth communication module 301 are simplified, and each antenna group has higher communication compatibility and flexibility; referring to fig. 4, since the antenna unit ANT5 is shared by 4 antenna groups, the number of antenna units in the wiring layer of the circuit board 301 and the wiring structure thereof are greatly reduced, the positioning test cost for the device to be tested 20 is saved, and the positioning test procedure is simplified; therefore, in the wiring structure of the circuit board 301, multiplexing of the antenna units is realized, on one hand, the utilization rate of the bluetooth chip is improved, and the space volume of the circuit board 301 is reduced, and on the other hand, high-precision positioning of the device to be tested 20 is realized by combining 4 antenna units in the antenna group, so that the positioning error is reduced, and better use experience is brought to a user.

As an alternative implementation, fig. 5 shows another structural schematic of the positioning circuit 10 provided in this embodiment, and compared with the structural schematic of the positioning circuit 10 in fig. 1, the positioning circuit 10 in fig. 5 further includes a control module 106, where the control module 106 is connected to the switch switching module 102, and the control module 106 is configured to generate a control signal.

For example, the control module 106 generates a control signal according to the key information of the user, and the bluetooth communication state of the positioning circuit 10 can be changed through the control signal, so that the control is simple and convenient, and the positioning circuit 10 positions the device to be tested 20 according to the actual positioning requirement of the user, thereby bringing good use experience to the user; therefore, in this embodiment, the on-state or off-state of the power supply branch in the switch switching module 102 can be changed through the control module 106, so that the plurality of power supply branches can sequentially output the driving signals, the positioning circuit 10 starts a positioning test process for the device to be tested 20, the communication control safety and stability of the positioning circuit 10 are ensured, and the positioning circuit 10 can be applied to different communication environments, so as to realize a rapid positioning function for the device to be tested 20.

As an alternative embodiment, the positioning control module 105 includes a single chip, which is, for example, an STM32 series single chip; furthermore, in the present embodiment, the single chip controls different antenna units to perform switching operation, so as to accurately obtain the actual coordinates of the device to be tested 20 in the preset coordinate system according to the phase of the first bluetooth communication signal received by the antenna unit, the positioning test step is simplified, the positioning accuracy is high, and the positioning control cost and the control complexity of the positioning circuit 10 for the device to be tested 20 are effectively reduced.

Illustratively, the specific circuit structure of the calibration compensation module 104 can be realized by using an electronic circuit structure in the conventional technology, which improves the circuit structure compatibility of the positioning circuit 10.

To better illustrate the positioning test principle of the positioning circuit 10 for the device under test 20 in this embodiment, the following description is made with reference to fig. 1 to 5 to illustrate the working steps of the positioning circuit 10 by a specific example, and specifically follows:

to more clearly illustrate the positioning test procedure of the positioning circuit 10 for the device under test 20, the present example implements the positioning function for the device under test 20 in a different dimensional space.

1. When the preset coordinate system is a planar two-dimensional system, please refer to fig. 6, at this time, the precise positioning of the device to be tested 20 is only needed to be realized in a two-dimensional space through two antenna units; the coordinates of the two points A and B are preset and known quantities, and the coordinate of the point C is an unknown quantity.

After the phase of the first bluetooth communication signal received by the two antenna units is compensated, it can be directly considered that the phase difference is proportional to Δ L ═ AC-BC ═ λ ═ Δ Φ/2 pi (d < λ), where λ is a preset physical parameter, AC and BC are distance differences from the point C to the point a and the point B, respectively, and are fixed values, and the point C satisfies the following hyperbolic equation:

when the distance from the point C to the points A and B is far larger than the distance d between the points AB

The coordinate of point C is very close to its asymptote, and the arctangent of its slope is the azimuth angle θ.

tanθ＝b/a＝sqrt(c*c-a*a)/a＝sqrt[4π*π*d*d/(λ*λ)-△φ*△φ]/△φ (2)

Therefore, under a planar two-dimensional coordinate system, the angle value of the to-be-tested device under the preset coordinate system is obtained according to the phase difference of the to-be-tested device receiving the two paths of first Bluetooth communication signals, and the positioning process is simple and convenient.

2. When the preset coordinate system is three-dimensional, please refer to fig. 7, based on the above demonstration of fig. 6, it can be obtained that the coordinate of the point C (the device to be detected) in fig. 7 satisfies the curved surface equation, which is equivalent to the right half curved surface in the two-leaf hyperboloid formed by one rotation of the hyperboloid according to the X axis, and the solid angle is a conical surface formed by one rotation of the asymptote and the X axis as the rotation axis:

y²+z²＝x²tan²θ (3)

the bluetooth communication module 103 detects coordinates of a device to be tested in a three-dimensional coordinate system by using 4 antenna units, please refer to fig. 8, where fig. 8 shows a distribution schematic diagram of an antenna group, where the antenna group includes 4 antenna units adjacent to each other in pairs, and in order to simplify the positioning test step of the positioning circuit 10 for the device to be tested 20, a coordinate origin of a preset coordinate system is located in the middle of a square array formed by the 4 antenna units, where a point H is a position of the device to be tested, and a difference between distances from the point H to any two points of a0, a1, a2, and A3 is a fixed value, and can be represented by the following formulas (4) to (6):

from this, three sets of hyperboloid equations can be derived:

in the above formula (7), i is 1,2,3, the coordinates of the H point are converted to solve a hyperbolic equation, and the solution is as follows:

as shown in fig. 8, in which the coordinates a of the respective antenna elements_i(x_i,y_i0), i is 0,1,2,3, then point H is respectively to a₀、A₁、 A₂And A₃The distance of (a) is:

by squaring the equation for the left and right sides of the equal sign of equation (8), the following equation exists:

wherein HA_iHA is the distance between the coordinate of the ith antenna unit and the coordinate of the point H_j,0The method comprises the following steps: the distance between the coordinate of the jth antenna unit and the coordinate of the point H and the 1 st antenna unit (A)₀) The distance between the coordinate where the point is located and the coordinate of the point H, and the difference of the distances between the two coordinates, wherein j is 1,2 and 3; wherein, HA_j,0＝HA_j-HA₀The following can be obtained:

HA_j ²＝(HA_j,0+HA₀)²(10)

by combining the above formula (10) and the above formula (9), it is possible to obtain:

in the above formula (11), HA_i,0The method comprises the following steps: the distance between the coordinate of the ith antenna unit and the coordinate of the point H and the 1 st antenna unit (A)₀) The distance between the coordinate of the antenna unit and the coordinate of the point H is a known quantity, and the coordinates of the 4 antenna units in the preset coordinate system are set as follows: a0(-30, -30, 0), A1(-30, 30, 0), A2(30, 30, 0), A3(30, -30, 0); in the above formula (9), when i is 0, then:

the above formula (11) and the above formula (12) are combined and subtracted to obtain

HA_i,0 ²+2HA_i,0HA₀＝x_i ²+y_i ²-1800-(2x_i+60)x-(2y_i+60)y (13)

Setting HA_1,0＝a，HA_2,0＝b，HA_3,0＝c，HA₀Coordinates (x) when i is 1,2, and 3, respectively_i,y_i0) substituting the above formula (13), one can obtain:

a²+2al＝-120y (14)

b²+2bl＝-120x--120y (15)

c²+2cl＝-120x (16)

the above formulas (14), (15) and (16) can be combined to obtain:

b²-a²-c²+2(b-a-c)l＝0 (17)

then obtain

Substituting l into the above equation (14) and the above equation (16) gives:

substituting the solutions of l, x, and y into equation (12), respectively, then there is:

the coordinates of the point H (device under test) are thus obtained in combination with the above equations (18), (19) and (20).

According to the above example, the positioning circuit 10 in this embodiment can still accurately obtain the accurate coordinates of the device to be tested in the preset coordinate system without directly detecting the angle value of the device to be tested in the preset coordinate system, thereby greatly simplifying the positioning test procedure of the device to be tested and reducing the positioning test cost.

Fig. 9 shows a structural schematic diagram of a positioning system 90 based on bluetooth AOA communication according to this embodiment, please refer to fig. 9, where the positioning system 90 includes a device under test 20 and at least one base station (fig. 9 is represented by 901 and … 90M, where M is a positive integer greater than or equal to 1), and the base station implements bluetooth communication with the device under test 20, and a specific position of the device under test 20 can be accurately obtained through the base station.

Each base station comprises the positioning circuit 10 as described above, and each base station is used for acquiring the position of the device to be tested 20 in the preset coordinate system.

Referring to the embodiments of fig. 1 to 8, a base station can receive a first bluetooth communication signal sent by a device to be tested 20, and accurately obtain a distance value and an angle value of the device to be tested 20 in a preset coordinate system according to a phase difference between multiple paths of first bluetooth communication signals received by the base station, so as to implement an accurate positioning function for the device to be tested 20; in the process of positioning the device to be tested 20, the base station performs phase compensation on the signal transmission difference inside the base station according to the phase compensation value, so that the positioning error of the device to be tested 20 caused by the communication system error of the base station is avoided, and the positioning accuracy of the positioning system 90 is greatly guaranteed; according to the phase difference of the multiple paths of first Bluetooth communication signals received by the base station, after phase compensation, the angle value and the distance value of the device to be tested 20 in a preset coordinate system can be obtained; therefore, the positioning system 90 in this embodiment does not need to measure the angle value of the device to be tested 20, and can determine the angle value and the distance value of the device to be tested 20 only by the phase difference, so that intermediate variables are reduced, the positioning test cost of the device to be tested 20 is further reduced, the positioning control steps are simplified, and the positioning system 90 has a higher application range and a higher practical value; therefore, the technical problems that the positioning method in the traditional technology is low in precision, excessive intermediate variables are involved in the positioning control step, the operation step is complicated, the positioning cost of an object is improved, and the universal application is difficult are effectively solved.

Optionally, M ═ 1; therefore, the embodiment can realize the positioning function for the device to be tested 20 through one base station, thereby greatly simplifying the positioning step and the positioning cost for the device to be tested 20, simplifying the internal circuit structure of the positioning system 90, and achieving the effect of single base station positioning; furthermore, the base station in this embodiment can achieve accurate positioning for the device to be tested 20, and can be universally applied to various different industrial technical fields to meet the actual requirements of positioning.

Alternatively, M > 1; the positioning system 90 includes at least two base stations, and the at least two base stations are configured to obtain at least two coordinates of the device under test 20 in the same preset coordinate system, and obtain an average value of the at least two coordinates.

When the positioning system 90 is applied to a wide range of environments and is used for positioning the device to be tested 20, the distance between the base station and the device to be tested 20 is long, which may cause interference to bluetooth communication during long-distance transmission and signal loss; therefore, in the embodiment, the multiple base stations are adopted to respectively receive the first bluetooth communication signals output by the device to be tested 20 at the same time so as to realize full coverage of a large-scale area, the multiple base stations respectively obtain multiple coordinates of the device to be tested 20 in the same preset coordinate system, and then an average value is obtained, and the average value is an accurate coordinate of the device to be tested 20 in the preset coordinate system; thereby effectively eliminating the error caused by the external environmental factors in the positioning measurement process of the positioning system 90 and ensuring the positioning test precision of the positioning system 90, therefore, the positioning system 90 in the embodiment has higher compatibility,

as an optional implementation manner, M >1, at least two base stations are regularly arranged in a preset environment area, and since the external environment where the device to be tested 20 is located may have a large change in the process of performing the positioning test on the device to be tested 20 through the base stations, the base stations have corresponding bluetooth communication performance in different external environments; therefore, in the embodiment, the plurality of base stations are subjected to the positioning test according to the preset arrangement mode, and then the plurality of base stations located in different geographical areas can realize the omnibearing positioning test on the to-be-tested device 20, so that the occurrence of the positioning error of the base stations is prevented, the interference of the communication reflection error in the external environment on the positioning test process of the to-be-tested device 20 is reduced, and the positioning test precision and compatibility of the positioning system 90 are improved; therefore, in the embodiment, a plurality of base stations are deployed in a map environment, and the position arrangement design of the base stations is realized according to the pre-recommended deployment positions, so that all coordinate points in the external environment are effectively covered, when the device to be tested 20 is located in any type of external environment, the positions of the base stations are scientifically arranged, so that the device to be tested 20 is accurately positioned, and the problem of detection errors caused by the fact that the device to be tested is located in an edge coordinate area is avoided; meanwhile, by regularly arranging and designing the plurality of base stations, the space utilization rate of a preset external area can be improved, the layout number of the base stations in the external environment can be reduced on the basis of guaranteeing the positioning test precision of the equipment to be tested 20, and the positioning error and the positioning control cost of the positioning system 90 are reduced; the positioning system 90 in this embodiment can realize an efficient positioning function for the device to be tested 20, so as to meet the positioning test requirements of the user.

Fig. 10 shows a specific operation flow of the positioning method based on bluetooth AOA communication according to this embodiment, and the positioning method can perform accurate and efficient positioning on a device to be tested, and is simple and convenient to operate, please refer to fig. 10, where the positioning method based on bluetooth AOA communication specifically includes:

s1001: inputting and detecting a radio frequency signal.

S1002: and respectively controlling at least one power supply branch circuit to be switched on or switched off according to the control signal, and outputting a drive signal according to the radio frequency signal when the power supply branch circuit is switched on.

Optionally, the phase of the radio frequency signal is analyzed to obtain a corresponding driving signal, so that the bluetooth communication process can be controlled through the driving signal, and the positioning control precision and the positioning control efficiency of the device to be tested are greatly improved.

S1003: and receiving a first Bluetooth communication signal sent by the equipment to be tested by adopting an antenna unit according to a driving signal.

Each power supply branch is used for outputting a driving signal, the power supply branches sequentially output the driving signals according to preset interval time under the driving of the control signals, after the signal form of one driving signal is converted, the communication state of the antenna units can be activated, the Bluetooth communication function can be realized according to the first Bluetooth communication signals, then the antenna units respectively receive multiple paths of first Bluetooth communication signals, and each path of first Bluetooth communication signal has a specific Bluetooth communication mode, so that the real-time positioning function of the equipment to be tested is realized according to the multiple paths of first Bluetooth communication signals respectively received by the antenna units, and the positioning test precision is guaranteed.

S1004: and sending out a second Bluetooth communication signal by using the checking equipment, and obtaining a phase compensation value of each antenna unit according to a phase difference between the phase of the second Bluetooth communication signal received by each antenna unit and the phase of a preset communication signal.

S1005: according to the phase difference between at least four paths of first Bluetooth communication signals received by at least four antenna units and the phase compensation values of at least four antenna units, acquiring the azimuth angle of the device to be tested relative to the coordinate origin of a preset coordinate system, and acquiring the relative distance between the device to be tested and the coordinate origin.

When each antenna unit receives a path of first bluetooth communication signal according to the driving signal, due to certain delay or error existing in the signal conversion and signal transmission processes, transmission of multiple paths of first bluetooth communication signals cannot be kept consistent, and the communication control errors of the multiple antenna units affect the positioning accuracy and the positioning efficiency of the device to be tested; therefore, after phase compensation is carried out on each path of first Bluetooth communication signal, interference caused by communication state errors in the positioning test process is eliminated, the actual position of the equipment to be tested under the preset coordinate system is directly obtained according to the phase difference between the different first Bluetooth communication signals received by the antenna units, intermediate variables in the positioning test process are saved, the positioning precision and the positioning efficiency of the equipment to be tested are guaranteed, and the practical value is high.

It should be noted that the positioning method in fig. 10 corresponds to the positioning circuit in fig. 1, and therefore, reference may be made to the embodiments in fig. 1 to fig. 8 for the implementation of the specific steps of the positioning method in fig. 10, which is not described in detail herein.

As an optional implementation manner, fig. 11 shows a specific implementation flow of S1005 provided in this embodiment, please refer to fig. 11, where S1005 includes:

s1101: and obtaining the compensated first Bluetooth communication signal according to the phase of the first Bluetooth communication signal received by the antenna unit and the corresponding phase compensation value.

As described in S1004, the phase compensation value of the antenna unit can be obtained according to the phase difference between the phase of each path of second bluetooth communication signal received by the antenna unit and the phase of the preset communication signal, when the antenna unit receives the corresponding first bluetooth communication signal, each path of first bluetooth communication signal has the phase compensation value corresponding to itself, and the phase compensation can be performed on the corresponding first bluetooth communication signal according to each phase compensation value, so that all the first bluetooth communication signals can be in a consistent signal transceiving environment, and thus, the communication state error of each antenna unit itself is effectively prevented from causing large interference to the positioning process of the device to be tested.

S1102: and acquiring the azimuth angle of the device to be tested relative to the origin of coordinates according to the phase difference between the first Bluetooth communication signals after the at least four paths of compensation, and acquiring the relative distance between the device to be tested and the origin of coordinates.

After the multi-path first Bluetooth communication signals are subjected to phase compensation, the multi-path compensated first Bluetooth communication signals can be in a completely consistent Bluetooth communication environment, so that the position characteristics of the to-be-tested equipment can be directly obtained according to the phase difference between the multi-path compensated first Bluetooth communication signals received by the to-be-tested equipment, the accurate positioning function of the to-be-tested equipment is further realized, and the positioning accuracy and the positioning efficiency of the to-be-tested equipment are greatly guaranteed; the positioning method can be universally applied to different external environments, the compatibility is high, the coordinates of the equipment to be tested in the preset coordinate system are directly obtained according to the phase difference between the multiple paths of first Bluetooth communication signals, the operation is simple and convenient, the positioning step of the equipment to be tested is simplified, and the positioning test cost of the equipment to be tested is reduced.

The positioning method in this embodiment can drive a bluetooth communication process by using a radio frequency signal, and further, by controlling a plurality of power supply branches to be respectively turned on or off, a plurality of paths of first bluetooth communication signals are sequentially output to a plurality of antenna units, so that the plurality of antenna units can respectively receive the plurality of paths of first bluetooth communication signals, and by performing phase compensation on each path of first bluetooth communication signal, interference caused by a communication control error of the antenna unit on a positioning test process is eliminated; therefore, the position of the device to be tested under the preset coordinate system is directly determined according to the phase difference between the multiple paths of first bluetooth communication signals received by the device to be tested, intermediate variables in the positioning test process are greatly reduced, the accurate position of the device to be tested can be quickly obtained through a positioning method, the positioning efficiency and the positioning accuracy of the device to be tested are guaranteed, and the positioning test requirements of users are met; the technical problems that the positioning cost is high, the positioning steps are complex, the positioning efficiency and the positioning precision are affected due to the fact that a positioning method in the traditional technology needs to involve excessive intermediate variables, the actual position of the device to be tested is difficult to accurately obtain by the traditional positioning method, and the practical value is low are effectively solved.

In summary, the positioning circuit in the embodiment of the present application can perform phase compensation on its own communication error to ensure positioning accuracy for the device to be tested, and further, the positioning circuit can be applied to various different industrial environments, so that the device to be tested sends out a first bluetooth communication signal in a standard communication environment, and an actual coordinate of the device to be tested in a preset coordinate system is directly obtained according to a phase difference between multiple paths of first bluetooth communication signals received by the positioning circuit, and the positioning accuracy and efficiency are high; therefore, the embodiment can directly obtain the angle value and the distance value of the equipment to be tested according to the phase difference between at least four first Bluetooth communication signals, and can skip the intermediate variable of the angle value, thereby greatly reducing the intermediate variable in the positioning test process and reducing the positioning test cost; this will positively contribute to the development of localization techniques in the field, resulting in important practical values.

Various embodiments are described herein for various devices, circuits, apparatuses, systems, and/or methods. Numerous specific details are set forth in order to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. However, it will be understood by those skilled in the art that the embodiments may be practiced without such specific details. In other instances, well-known operations, components and elements have been described in detail so as not to obscure the embodiments in the description. It will be appreciated by those of ordinary skill in the art that the embodiments herein and shown are non-limiting examples, and thus, it can be appreciated that the specific structural and functional details disclosed herein may be representative and do not necessarily limit the scope of the embodiments.

Reference throughout the specification to "various embodiments," "in an embodiment," "one embodiment," or "an embodiment," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in various embodiments," "in some embodiments," "in one embodiment," or "in an embodiment," or the like, in places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, a particular feature, structure, or characteristic illustrated or described in connection with one embodiment may be combined, in whole or in part, with features, structures, or characteristics of one or more other embodiments without presuming that such combination is not an illogical or functional limitation. Any directional references (e.g., plus, minus, upper, lower, upward, downward, left, right, leftward, rightward, top, bottom, above …, below …, vertical, horizontal, clockwise, and counterclockwise) are used for identification purposes to aid the reader's understanding of the present disclosure, and do not create limitations, particularly as to the position, orientation, or use of the embodiments.

Although certain embodiments have been described above with a certain degree of particularity, those skilled in the art could make numerous alterations to the disclosed embodiments without departing from the scope of this disclosure. Joinder references (e.g., attached, coupled, connected, and the like) are to be construed broadly and may include intermediate members between a connection of elements and relative movement between elements. Thus, connection references do not necessarily imply that two elements are directly connected/coupled and in a fixed relationship to each other. The use of "for example" throughout this specification should be interpreted broadly and used to provide non-limiting examples of embodiments of the disclosure, and the disclosure is not limited to such examples. It is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative only and not limiting. Changes in detail or structure may be made without departing from the disclosure.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims

1. A positioning circuit based on bluetooth AOA communication, comprising:

the calibration compensation module is connected with the calibration equipment and the equipment to be tested, and is used for obtaining a phase compensation value of each antenna unit according to a phase difference between a phase of a second Bluetooth communication signal received by each antenna unit and sent by the calibration equipment and a phase of a preset communication signal;

and the positioning control module is used for acquiring the azimuth angle of the equipment to be tested relative to the origin of coordinates of the preset coordinate system and acquiring the relative distance between the equipment to be tested and the origin of coordinates according to the phase compensation values of at least four antenna units and the phase difference between at least four paths of first Bluetooth communication signals received by the at least four antenna units.

2. The positioning circuit of claim 1, wherein the switch switching module comprises at least one single-pole 3-throw switch and/or single-pole 4-throw switch.

3. The positioning circuit of claim 1, wherein all of the antenna units are integrated into a bluetooth chip, and wherein the bluetooth chip is disposed on a wiring layer of a circuit board.

4. The position determination circuit of claim 3, wherein the phase of the predetermined communication signal is equal to an average of the phases of at least four of the antenna units receiving at least four of the second Bluetooth communication signals, and the verification device is located equidistant from each of the antenna units.

5. The positioning circuit of claim 3, wherein the Bluetooth communication module comprises: nine antenna units, and nine antenna units present the square array of three rows three columns and arrange on the wiring layer of circuit board.

6. The positioning circuit according to claim 5, wherein the phase of the predetermined communication signal is equal to the phase of the predetermined antenna unit receiving the second bluetooth communication signal sent by the verification device;

7. The positioning circuit according to claim 6, wherein the Bluetooth communication module comprises four antenna groups, each of the antenna groups comprises four antenna units, and the four antenna units inside each of the antenna groups are arranged in a square array of two rows and two columns on the wiring layer of the circuit board;

8. The positioning circuit of claim 1, further comprising:

9. A positioning system based on bluetooth AOA communication, comprising:

a device to be tested; and

at least one base station, each base station comprising the positioning circuit of any one of claims 1-8, each base station for obtaining a position of the device under test in a predetermined coordinate system.

10. The positioning system according to claim 9, wherein the positioning system comprises at least two base stations, and the at least two base stations are configured to obtain at least two coordinates of the device under test in a same preset coordinate system, and obtain an average value of the at least two coordinates.